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ekf2: check if ChangeInstance succeeded

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Beat Küng 2021-04-27 10:51:17 +02:00 committed by Daniel Agar
parent 0a98c5a7f4
commit 38c1ec6a9c
1 changed files with 2 additions and 3 deletions
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5
src/modules/ekf2/EKF2.cpp
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@ -194,12 +194,11 @@ bool EKF2::multi_init(int imu, int mag)
_estimator_visual_odometry_aligned_pub.advertised();
_yaw_est_pub.advertise();
_vehicle_imu_sub.ChangeInstance(imu);
_magnetometer_sub.ChangeInstance(mag);
bool changed_instance = _vehicle_imu_sub.ChangeInstance(imu) && _magnetometer_sub.ChangeInstance(mag);
const int status_instance = _estimator_states_pub.get_instance();
if ((status_instance >= 0)
if ((status_instance >= 0) && changed_instance
&& (_attitude_pub.get_instance() == status_instance)
&& (_local_position_pub.get_instance() == status_instance)
&& (_global_position_pub.get_instance() == status_instance)) {